For my wife, it was when she had a relationship that was 100% based on sex. She was raised in a very conservative religious household, so once she discovered sex at 19, she was all in.
Anyway, this particular boyfriend once pinned her to the wall (in a fun way), reached up her skirt, pulled off her panties, screwed her, all while friends were around the corner in the dining room. My wife LOVED that experience, which led her to going without panties most of the time when she met me, and when she did wear panties, she expected me to reach up and pull them off as often as I could if other people were around but not watching. I hadn't done that in years until this past weekend again, which you may have read about in another recent post of mine.
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